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Optimization based Tight Maneuvering

around Moving obstacles for Collision
avoidance and Lane Tracking using CASADI

README.md

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5/3/23, 12:29 AM GitHub - saxenam06/Optimization-based-Tight-Maneuvering

In this repository, I implemented an Optimization based Model predictive control

algorithm to perform Tight Maneuvering around Moving Obstacles for collision avoidance
while tracking the given lane and reaching the goal location. The objective is to find
directly the control actions i.e. the steering rate, jerk rate and the control time step by
solving one optimization problem such that the ego vehicle navigates smoothly around
the close proximities of the surrounding moving obstacles, without violating other
constraints like road boundaries, Wheel lift-off Vertical loads for rollover safety from
Longitudinal/Lateral weight transfer, the actuator limits and maintaining a constant
preview distance at all times until and unless the ego vehicle is very close to the goal
location. Similar problem was also solved in one of my previous attempt in [6] where the
collision avoidance constraints are formulated such that the entire predicted trajectory of
the ego vehicle remain out of a certain elliptical region around the most nearest identified
points from the bounding box of the moving obstacles and the discretesized road
boundaries. Since the vehicles are rectangular and not elliptical in shapes, this constraint
formulation hinders the ability of the vehicle to tightly maneuver around the moving
obstacles impeding the overall navigation of the ego vehicle as was also observed in the
results of my previous implementation [6]. Also, considering a vehicle as an ellipsoid can
be very conservative and will prevent the car from navigating around the close proximities
of the vehicle. To alleviate this issue, Zhang et al. [3] proposed to model the full
dimensional shapes of the vehicles as polytopic sets and formulated the collision
avoidance constraints non-conservatively as a function of distance between these sets. The
distance function is appropriately reformulated using the strong duality of convex
optimization resulting in smooth nonlinear constraint functions which can be handled
efficiently by any standard nonlinear solvers [5]. I therefore changed my previous
repository and implemented these reformulated smooth collision avoidance constraints
using CASADI to revalidate its effectiveness for the above mentioned scenario. Other ideas
of fusing of Moving obstacle states, objective function, maintaining a constant preview
distance and vehicle dynamic rollover safety constraints in the NMPC formulation are still
from A.B. Dudekula [1] and is as explained in my previous paper [6]. With the below results,
I show the effectiveness of these reformulated smooth collision avoidance constraints to
achieve Integrated Path Planning for Tight collision free maneuvering around Moving
obstacles and Tracking of the given Lane waypoints for Autonomous navigation in the
Highway Structured environment.

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5/3/23, 12:29 AM GitHub - saxenam06/Optimization-based-Tight-Maneuvering

REFERENCES
1. A.B. Dudekula, Sensor fusion and Non-linear NMPC controller development studies for
Intelligent Autonomous vehicular systems, Thesis.
2. Reza N. Jazar, Advanced Vehicle Dynamics, Springer Book.
3. A. L., Xiaojing Zhang and F. Borrelli, Optimization-based collision avoidance, arXiv,
2017.
4. S. Boyd and L. Vandenberghe. Convex Optimization. Cambridge University Press, 2004.
5. R. Firoozi, Xiaojing Zhang and F. Borrelli, Formation and Reconfiguration of Tight
Multi-Lane Platoon, arXiv, 2020
6. M. Saxena, Integrated Path Planning and Control for Lane Tracking with Moving
obstacle avoidance. Paper

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